{"id":"https://openalex.org/W2138371510","doi":"https://doi.org/10.1109/ichr.2010.5686840","title":"Stabilization of a hopping humanoid robot for a push","display_name":"Stabilization of a hopping humanoid robot for a push","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2138371510","doi":"https://doi.org/10.1109/ichr.2010.5686840","mag":"2138371510"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026284458","display_name":"Baek-Kyu Cho","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Baek-Kyu Cho","raw_affiliation_strings":["ATR, Japan"],"affiliations":[{"raw_affiliation_string":"ATR, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008042255","display_name":"Sangsin Park","orcid":"https://orcid.org/0000-0002-9509-0058"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Sin Park","raw_affiliation_strings":["KAIST, South Korea","KAIST, Republic of Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"KAIST, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"KAIST, Republic of Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055502318","display_name":"Jun-Ho Oh","orcid":"https://orcid.org/0000-0002-2609-6712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-ho Oh","raw_affiliation_strings":["KAIST, South Korea","KAIST, Republic of Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"KAIST, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"KAIST, Republic of Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026284458"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4779,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82603602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"60","last_page":"65"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10441","display_name":"Muscle Physiology and Disorders","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8151949644088745},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.732160210609436},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.6419238448143005},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6246466636657715},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5953774452209473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5054409503936768},{"id":"https://openalex.org/keywords/push-pull","display_name":"Push pull","score":0.43486928939819336},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41340985894203186},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3722885847091675},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2871960401535034},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23150289058685303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1986810863018036}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8151949644088745},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.732160210609436},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6419238448143005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6246466636657715},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5953774452209473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5054409503936768},{"id":"https://openalex.org/C2986819370","wikidata":"https://www.wikidata.org/wiki/Q1182067","display_name":"Push pull","level":2,"score":0.43486928939819336},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41340985894203186},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3722885847091675},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2871960401535034},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23150289058685303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1986810863018036},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2010.5686840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1494824875","https://openalex.org/W2037729465","https://openalex.org/W2062940189","https://openalex.org/W2065942939","https://openalex.org/W2092535029","https://openalex.org/W2110013467","https://openalex.org/W2115933773","https://openalex.org/W2117070854","https://openalex.org/W2118320757","https://openalex.org/W2123898591","https://openalex.org/W2129541023","https://openalex.org/W2140336884","https://openalex.org/W2151182239","https://openalex.org/W2161427949","https://openalex.org/W2168936093","https://openalex.org/W2170116736","https://openalex.org/W2539314278","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2540393540","https://openalex.org/W4238967710","https://openalex.org/W6666339916","https://openalex.org/W6728876756"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2100910774"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,15,30,35,40,48,54,58,62,82,92,97],"stabilization":[4],"of":[5,17,57],"a":[6,11],"hopping":[7,73],"humanoid":[8],"robot":[9],"for":[10,71],"push.":[12],"According":[13],"to":[14],"size":[16],"push,":[18],"two":[19],"controllers":[20],"are":[21,44],"selected.":[22],"The":[23,76,86],"posture":[24,36],"balance":[25,37],"controller":[26,38,56],"is":[27,32,50,65,74,79,89],"used":[28,66],"when":[29,47],"push":[31,49],"small,":[33],"and":[34,39,67,94],"foot":[41,59],"placement":[42,60,84],"method":[43,88],"activated":[45],"together":[46],"large.":[51],"To":[52],"develop":[53],"novel":[55],"method,":[61],"simplified":[63],"model":[64],"linearized":[68],"Poincare":[69],"map":[70],"single":[72],"made.":[75],"control":[77],"law":[78],"designed":[80],"by":[81],"pole":[83],"method.":[85],"proposed":[87],"verified":[90],"through":[91],"simulation":[93],"experiment.":[95],"In":[96],"experiment,":[98],"HUBO":[99],"hops":[100],"well":[101],"against":[102],"various":[103],"pushes.":[104]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
